Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 188 for “"extended Kalman filter"”.
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Application of the extended Kalman filter to enzyme reactions
… estimate the bioprocess parameters. The use of filtering theory for state estimation provides a means of incorporating a deterministic model into a method of forecasting future states which includes the probabilistic uncertainties of both the system and the measuring devices. The state …
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Analysis of robot localisation performance based on extended kalman filter
… localisation accuracy for a mobile robot, the Extended Kalman Filter (EKF) algorithm is used to achieve the required robustness and accuracy. EKF is a technique from estimation theory that combines the information of different uncertain sources to obtain the value of variables. However, there …
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Identification of civil structural parameters using the extended Kalman filter
… is to evaluate the tracking ability of the Kalman filter for identifying civil structural parameters based on measured vibration data which usually are earthquake accelerations. For linear elastic structures, the ordinary Kalman filter was used, but for nonlinear elastic structures, we …
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An extended Kalman filter extension of the augmented Markov decision process
… the set, of Gaussian beliefs. By combining an extended Kalman filter with an augmented Markov decision process, we create a path planner which efficiently plans over a discrete approximation of the set of Gaussian beliefs.
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The Extended Preferred Ordering Theorem for Radar Tracking Using the Extended Kalman Filter
… in rectangular coordinates; and the linear Kalman filter (LKF) is used as the estimator. Less common, the LKF is used to determine the tracks in radar coordinates, which are then converted into rectangular coordinates. Rarely is the extended Kalman filter (EKF) used, where the tracks are …
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Constrained extended Kalman filter : an efficient improvement of calibration for dynamic traffic assignment models
… Generalized least squares (GLS) methods and Kalman filter-based methods are proved useful in online calibration. However, in literature, the road networks selected to test online calibration algorithms are usually simple and have small number of parameters. Thus their effectiveness when …
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Real-time identification for ground vehicle trajectory estimation using extended Kalman filter residual analysis
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1999.
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Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter
… importance sampling can be avoided in particle filter through an innovation structure inspired by traditional nonlinear filtering combined with optimal control and mean-field game formalisms. The resulting algorithm is referred to as feedback particle filter (FPF). The purpose of this thesis is …
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Reduced order extended kalman filter incorporating dynamics of an autonomous underwater vehicle for motion prediction
… of a reliable motion prediction. Kinematic Extended Kalman Filters (EKF) have been applied for AUV motion prediction in the context of Simultaneous Localization and Mapping (SLAM) [1]. It has been suggested that a dynamics based EKF would produce more accurate predictions as it considers …
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System identification and control of an Arleigh Burke Class Destroyer using an extended Kalman filter
Thesis (Nav.E.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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State Estimation in Active Distribution Systems: Comparison Between Weighted Least Squares and Extended Kalman Filter Algorithms
… of the Weighted Least Square (WLS) and the Extended Kalman Filter (EKF) state estimation algorithms in active DNs. This dissertation develops and tests the performance of active distribution system state estimation WLS and EKF algorithms that consider the integration of DGs in standard …
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Extended Kalman filter for integrating tracking data from ground-based radar and airborne global positioning system
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
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Application of the backward-smoothing extended Kalman filter to attitude estimation and prediction using radar observations
… and software systems, with a backward-smoothing extended Kalman filter (BSEKF). LAES is intended to determine the rotational motion of a freely tumbling spacecraft from a sequence of discrete-time radar images. The raw range-Doppler returns are collected using a ground-based sensor, which is …
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An Invariant Extended Kalman Filter for Indirect Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle
… is concerned with the design of the invariant extended Kalman filter (invariant EKF) for indirect wind estimation using a small, fixed-wing uncrewed aerial vehicle. Indirect wind estimation methods are classified as model-based or model-free, where the model refers to the aerodynamic force and …
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Comparative Analysis of Coulomb Counting and Extended Kalman Filter for State of Charge Estimation in Battery Management Systems
… Counting (CC) method, and the state-of-the-art Extended Kalman Filter method for SOC estimation was undertaken using a model based approach, involving simulation using Simulink and Simscape. Besides a current integration model, a cell model was developed and parameterized using a Lithium based …
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Development of a Mars Exploration Rover for RASC-AL Exploration RoboOps Competition with an Extended Kalman Filter Based Navigation System
… velocity, and position this system employs an Extended Kalman Filter (EKF) that fuses data from an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). The EKF utilizes complimentary data from both systems to minimize the degradation caused by inherent system error that would …
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Design of a low-cost optical motion capture system using a multi-camera configuration and an asynchronous extended kalman filter
… that embeds the camera model within an extended Kalman filter (EKF) for precise tracking of a robot's pose. The goal of this dissertation is to reduce the cost of an optical motion capture system by a factor of 7, targeting a total system cost of approximately $900. In comparison, …
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Autonomous Landing of an Unmanned Aerial Vehicle on an Unmanned Surface Vessel using Model Predictive Control with an Adaptive-Covariance Extended Kalman Filter
… motion. An innovative Adaptive-Covariance Extended Kalman Filter (AEKF) implementation was developed for the estimation of the 6 degree-of-freedom USV states using GPS and vision-based measurements of AprilTag markers on the USV landing platform. The AEKF employs an uncontrolled 6 …
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The potential of an extended Kalman filter for soil analysis in conjunction with a 3D-var system in a limited area NWP model
… coefficients allows the EKF to be more easily extended towards new observation types. In this thesis the EKF is validated for the Numerical Weather Prediction (NWP) model ALARO coupled to the surface model SURFEX. The EKF will be combined with a three dimensional variational (3D-var) …
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